Humanoid Motion Control by Compliance Optimization Explicitly Considering its Positive Definiteness
This article discusses a compliance optimization approach that satisfies positive definiteness. Physical human-robot interactions are an important topic in robotics, for which force or compliance control is a key technology. Operational space control (OSC) is one of the most common approaches for ro...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Institute of Electrical and Electronics Engineers Inc.
2022
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| Subjects: | |
| Online Access: | View Fulltext in Publisher |